#pragma once

#include "BackgroundSubtractorLBSP.h"

//! defines the default value for BackgroundSubtractorLBSP::m_fRelLBSPThreshold
#define BGSSUBSENSE_DEFAULT_LBSP_REL_SIMILARITY_THRESHOLD (0.333f)
//! defines the default value for BackgroundSubtractorSuBSENSE::m_nDescDistThresholdOffset
#define BGSSUBSENSE_DEFAULT_DESC_DIST_THRESHOLD_OFFSET (3)
//! defines the default value for BackgroundSubtractorSuBSENSE::m_nMinColorDistThreshold
#define BGSSUBSENSE_DEFAULT_MIN_COLOR_DIST_THRESHOLD (30)
//! defines the default value for BackgroundSubtractorSuBSENSE::m_nBGSamples
#define BGSSUBSENSE_DEFAULT_NB_BG_SAMPLES (50)
//! defines the default value for BackgroundSubtractorSuBSENSE::m_nRequiredBGSamples
#define BGSSUBSENSE_DEFAULT_REQUIRED_NB_BG_SAMPLES (2)
//! defines the default value for BackgroundSubtractorSuBSENSE::m_nSamplesForMovingAvgs
#define BGSSUBSENSE_DEFAULT_N_SAMPLES_FOR_MV_AVGS (100)


class BackgroundSubtractorSuBSENSE : public BackgroundSubtractorLBSP {
public:

	BackgroundSubtractorSuBSENSE(	float fRelLBSPThreshold=BGSSUBSENSE_DEFAULT_LBSP_REL_SIMILARITY_THRESHOLD,
				size_t nDescDistThresholdOffset=BGSSUBSENSE_DEFAULT_DESC_DIST_THRESHOLD_OFFSET,
					size_t nMinColorDistThreshold=BGSSUBSENSE_DEFAULT_MIN_COLOR_DIST_THRESHOLD,
					size_t nBGSamples=BGSSUBSENSE_DEFAULT_NB_BG_SAMPLES,
					size_t nRequiredBGSamples=BGSSUBSENSE_DEFAULT_REQUIRED_NB_BG_SAMPLES,
					size_t nSamplesForMovingAvgs=BGSSUBSENSE_DEFAULT_N_SAMPLES_FOR_MV_AVGS);

	virtual ~BackgroundSubtractorSuBSENSE();

	//! (re)initiaization method; needs to be called before starting background subtraction
	virtual void initialize(const cv::Mat& oInitImg, const cv::Mat& oROI);

	//! refreshes all samples based on the last analyzed frame
	virtual void refreshModel(float fSamplesRefreshFrac, bool bForceFGUpdate=false);

	//! primary model update function; the learning param is used to override the internal learning thresholds (ignored when <= 0)
	virtual void operator()(cv::InputArray image, cv::OutputArray fgmask, double learningRateOverride=0);

        //! returns a copy of the latest reconstructed background image
	void getBackgroundImage(cv::OutputArray backgroundImage) const;

        //! compute foreground mask
        virtual void apply(cv::InputArray image, cv::OutputArray fgmask, double learningRateOverride=0);

protected:
	//! absolute minimal color distance threshold ('R' or 'radius' in the original ViBe paper, used as the default/initial 'R(x)' value here)
	const size_t m_nMinColorDistThreshold;

	//! absolute descriptor distance threshold offset
	const size_t m_nDescDistThresholdOffset;

	//! number of different samples per pixel/block to be taken from input frames to build the background model (same as 'N' in ViBe/PBAS)
	const size_t m_nBGSamples;

	//! number of similar samples needed to consider the current pixel/block as 'background' (same as '#_min' in ViBe/PBAS)
	const size_t m_nRequiredBGSamples;

	//! number of samples to use to compute the learning rate of moving averages
	const size_t m_nSamplesForMovingAvgs;

	//! last calculated non-zero desc ratio
	float m_fLastNonZeroDescRatio;

	//! specifies whether Tmin/Tmax scaling is enabled or not
	bool m_bLearningRateScalingEnabled;

	//! current learning rate caps
	float m_fCurrLearningRateLowerCap, m_fCurrLearningRateUpperCap;

	//! current kernel size for median blur post-proc filtering
	int m_nMedianBlurKernelSize;

	//! specifies the px update spread range
	bool m_bUse3x3Spread;

	//! specifies the downsampled frame size used for cam motion analysis
	cv::Size m_oDownSampledFrameSize;

	//! background model pixel color intensity samples (equivalent to 'B(x)' in PBAS)
	std::vector<cv::Mat> m_voBGColorSamples;
	//! background model descriptors samples
	std::vector<cv::Mat> m_voBGDescSamples;

	//! per-pixel update rates ('T(x)' in PBAS, which contains pixel-level 'sigmas', as referred to in ViBe)
	cv::Mat m_oUpdateRateFrame;
	//! per-pixel distance thresholds (equivalent to 'R(x)' in PBAS, but used as a relative value to determine both intensity and descriptor variation thresholds)
	cv::Mat m_oDistThresholdFrame;
	//! per-pixel distance variation modulators ('v(x)', relative value used to modulate 'R(x)' and 'T(x)' variations)
	cv::Mat m_oVariationModulatorFrame;
	//! per-pixel mean distances between consecutive frames ('D_last(x)', used to detect ghosts and high variation regions in the sequence)
	cv::Mat m_oMeanLastDistFrame;
	//! per-pixel mean minimal distances from the model ('D_min(x)' in PBAS, used to control variation magnitude and direction of 'T(x)' and 'R(x)')
	cv::Mat m_oMeanMinDistFrame_LT, m_oMeanMinDistFrame_ST;
	//! per-pixel mean downsampled distances between consecutive frames (used to analyze camera movement and control max learning rates globally)
	cv::Mat m_oMeanDownSampledLastDistFrame_LT, m_oMeanDownSampledLastDistFrame_ST;
	//! per-pixel mean raw segmentation results (used to detect unstable segmentation regions)
	cv::Mat m_oMeanRawSegmResFrame_LT, m_oMeanRawSegmResFrame_ST;
	//! per-pixel mean raw segmentation results (used to detect unstable segmentation regions)
	cv::Mat m_oMeanFinalSegmResFrame_LT, m_oMeanFinalSegmResFrame_ST;
	//! a lookup map used to keep track of unstable regions (based on segm. noise & local dist. thresholds)
	cv::Mat m_oUnstableRegionMask;
	//! per-pixel blink detection map ('Z(x)')
	cv::Mat m_oBlinksFrame;
	//! pre-allocated matrix used to downsample the input frame when needed
	cv::Mat m_oDownSampledFrame_MotionAnalysis;
	//! the foreground mask generated by the method at [t-1] (without post-proc, used for blinking px detection)
	cv::Mat m_oLastRawFGMask;

	//! pre-allocated CV_8UC1 matrices used to speed up morph ops
	cv::Mat m_oFGMask_PreFlood;
	cv::Mat m_oFGMask_FloodedHoles;
	cv::Mat m_oLastFGMask_dilated;
	cv::Mat m_oLastFGMask_dilated_inverted;
	cv::Mat m_oCurrRawFGBlinkMask;
	cv::Mat m_oLastRawFGBlinkMask;
    
        //! default kernel for morphology operations
        cv::Mat m_defaultMorphologyKernel;
};

